四轮独立驱动汽车驱动系统故障诊断与容错控制

doi:10.3901/JME.2019.22.174

机械工程学报 ›› 2019, Vol. 55 ›› Issue (22): 174-182.doi: 10.3901/JME.2019.22.174

扫码分享

四轮独立驱动汽车驱动系统故障诊断与容错控制

周洪亮, 贾凤娇, 刘志远, 刘海峰

哈尔滨工业大学控制科学与工程系哈尔滨 150080

收稿日期:2019-08-26 修回日期:2019-11-07 出版日期:2019-11-20 发布日期:2020-02-29
作者简介:周洪亮,男,1981年出生,博士。主要研究方向为非线性预测控制理论、汽车主动安全控制方法。E-mail:zhouhongliang@hit.edu.cn;贾凤娇,女,1989年出生,博士研究生。主要研究方向为轮毂驱动电动汽车牵引力及横摆控制方法。E-mail:jiafengjiao@stu.hit.edu.cn;刘志远,男,1957年出生,教授。主要研究方向为汽车主动安全控制、智能汽车控制理论与方法。E-mail:liuzy_hit@hit.edu.cn;刘海峰,男,1977年出生,讲师。主要研究方向为汽车电子控制技术,嵌入式系统开发技术。E-mail:seawind@hit.edu.cn
基金资助:
国家自然科学基金（61790562）和中国汽车产业创新发展联合基金（U1564207）资助项目。

Fault Diagnosis and Fault-tolerant Control Method for In-wheel Motor Electric Vehicles

ZHOU Hongliang, JIA Fengjiao, LIU Zhiyuan, LIU Haifeng

Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150080

Received:2019-08-26 Revised:2019-11-07 Online:2019-11-20 Published:2020-02-29

摘要/Abstract

摘要： 针对四轮独立驱动电动汽车驱动系统故障的危险工况，给出一种基于车载传感器信号和无迹卡尔曼滤波器的故障诊断方法。进而，针对在车辆驱动系统部分电机故障情况下，在低附着系数路面上横摆稳定控制中，仍采用跟踪期望横摆率和侧向速度的横摆控制方法会导致车辆失稳的问题，设计出一种基于障碍李雅普诺夫函数的容错控制方法，该方法通过选取障碍李雅普诺夫函数约束车辆横摆率和侧向速度，以解决现有通过跟踪横摆率和侧向速度的横摆容错控制方法仍存在失稳风险的问题。给出的故障诊断和容错控制方法，能够实时诊断车辆驱动系统电机故障，通过车轮转矩的重新分配，可使车辆较快回到稳定状态，提高汽车行驶稳定性。通过不同车轮电机故障工况的仿真，验证了所提出故障诊断与容错控制方法的有效性。

关键词: 四轮驱动, 故障诊断, 容错控制, 无迹卡尔曼滤波, 障碍李雅普诺夫函数

Abstract: The fault diagnosis and fault-tolerant control method when the drive system has a failure under the condition that electric vehicle corners is researched. Firstly, the fault diagnosis method based on unscented Kalman filter (UKF) is presented. This method can identify fault parameters of the fault model online based on the on-board sensor signals. When some motors of the drive system fail, the control method of yaw rate and lateral velocity following desired values may still lead to the instability of the vehicle. Therefore, the active fault tolerant control based on the barrier Lyapunov function is proposed. The control method can constrain the yaw rate and lateral velocity in the stable region and maintain the stability of the vehicle comparing to the desired-value-tracking control method which may still have the risk of losing stability. The proposed control method can drag the vehicle back to the stable state by redistribution the wheel torque based on the detected fault signal. At last, simulations that different wheel motors fail are done to verify the effectiveness of the controller proposed.

Key words: electric vehicle with in-wheel motors, fault diagnosis, fault-tolerant control, unscented Kalman filter, barrier Lyapunov function

中图分类号:

U461

周洪亮, 贾凤娇, 刘志远, 刘海峰. 四轮独立驱动汽车驱动系统故障诊断与容错控制[J]. 机械工程学报, 2019, 55(22): 174-182.

ZHOU Hongliang, JIA Fengjiao, LIU Zhiyuan, LIU Haifeng. Fault Diagnosis and Fault-tolerant Control Method for In-wheel Motor Electric Vehicles[J]. Journal of Mechanical Engineering, 2019, 55(22): 174-182.

参考文献

[1] WANG Junmin,LONGORIA R G. Coordinated and reconfigurable vehicle dynamics control[J]. IEEE Transactions on Control Systems Technology,2009,17(3):723-732.
[2] SHUAI Zhibin,ZHANG Hui,WANG Junmin,et al. Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling[J]. Control Engineering Practice,2014,24:55-66.
[3] WANG Yafei,HIROSHI F,SHINJI H. Driving force distribution and control for EV with four in-wheel motors:A case study of acceleration on split-friction surfaces[J]. IEEE Transactions on Industry Electronic,2017,64(4):3380-3388.
[4] ULATOWSKI A,BAZZI A M. A combinational-logic method for electric vehicle drivetrain fault diagnosis[J]. IEEE Transactions on Industry Applications,2016,52(2):1796-1807.
[5] ZHANG Guoguang,ZHANG Hui,HUANG Xiaoyu,et al. Active fault-tolerant control for electric vehicles with independently driven rear in-wheel motors against certain actuator faults[J]. IEEE Transactions on Control Systems Technology,2015:1-16.
[6] 罗剑.分布式电驱动车辆制/驱动力协调及主动容错控制[D].北京:清华大学,2014. LUO Jian. Brake and traction force coordination and active fault tolerant control for distributed electric vehicles[D]. Beijing:Tsinghua University,2014.
[7] 张博涵.轮毂电机驱动电动汽车稳定性控制策略的研究[D].重庆:重庆理工大学,2018. ZHANG Bohan. Research on stability control strategies of in-wheel motor drive electric vehicles[D]. Chongqing:Chongqing University of Technology,2018.
[8] 窦雨.轮毂驱动汽车电机故障容错控制方法研究[D].哈尔滨:哈尔滨工业大学,2018 DOU Yu. Study on motor fault tolerance control method of wheels drive vehicle[D]. Harbin:Harbin Institute of Technology,2018.
[9] 张恺城.分布式驱动电动汽车驱动力分配控制策略研究[D].北京:北京理工大学,2016. ZHANG Kaicheng. Study on the control strategy of driving force distribution of distributed drive electric vehicle[D]. Beijing:Beijing Institute of Technology,2016.
[10] WANG Rongrong,WANG Junmin. Modeling and fault-tolerant-control of four-wheel-independent-drive EVs[M]. Modeling,Dynamics and Control of Electrified Vehicles,2018.
[11] WANG Rongrong,ZHANG Hui,WANG Junmin. Linear parameter-varying controller design for four-wheel independently actuated electric ground vehicles with active steering systems[J]. IEEE Transactions on Control Systems Technology,IEEE,2014,22(4):1281-1296.
[12] WANG Rongrong,WANG Junmin. Fault-tolerant control with active fault diagnosis for four-wheel independently driven electric ground vehicles[J]. IEEE Transactions on Vehicular Technology,2011,60(9):4276-4287.
[13] LI Boyuan,DU Haiping,LI Weihu. Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers[J]. Mechanical Systems&Signal Processing,2016,72-73:462-485.
[14] ANTONIO F L,ARAUJO R E. Fault-tolerant control based on sliding mode for overactuated electric vehicles[C]//Electric Vehicle Conference. IEEE,2015.
[15] JING Hui,WANG Rongrong,CHADLI M,et al. Fault-tolerant control of four-wheel independently actuated electric vehicles with active steering systems[J]. Ifac Papersonline,2015,48(21):1165-1172.
[16] XIN Xiaoshuai,ZHENG Hangen,XU Hongbin,et al. Control strategies for four in-wheel driven electric vehicles when motor drive systems fail[C]//American Control Conference,June 4-6,2014. Portland,Oregon,USA. IEEE,2014:885-890.
[17] WAN E A,MERWE R V D. The unscented Kalman filter for nonlinear estimation[C]//Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing,Communications,and Control Symposium. IEEE,2000.
[18] NIU Ben,ZHAO Jun. Tracking control for output-constrained nonlinear switched systems with a barrier Lyapunov function[J]. International Journal of Systems Science,2013,44(5):978-985.

四轮独立驱动汽车驱动系统故障诊断与容错控制

Fault Diagnosis and Fault-tolerant Control Method for In-wheel Motor Electric Vehicles

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	狄子钧, 袁东风, 李东阳, 梁道君, 周晓天, 信苗苗, 曹凤, 雷腾飞. 基于多尺度-高效通道注意力网络的刀具故障诊断方法[J]. 机械工程学报, 2024, 60(6): 82-90.
[2]	严如强, 许文纲, 王志颖, 朱启翔, 周峥, 赵志斌, 孙闯, 王诗彬, 陈雪峰, 张军辉, 徐兵. 航空发动机燃油控制系统故障诊断技术研究进展与挑战[J]. 机械工程学报, 2024, 60(4): 3-31.
[3]	张军辉, 刘施镐, 徐兵, 黄伟迪, 吕飞, 黄晓琛. 轴向柱塞泵智能化关键技术研究进展及发展趋势[J]. 机械工程学报, 2024, 60(4): 32-49.
[4]	王兴坚, 杨新宇, 王少萍. 大型民机操纵系统容错控制技术综述[J]. 机械工程学报, 2024, 60(4): 50-65.
[5]	丁孺琦, 熊文杰, 程敏, 徐兵. 智能化阀口独立电液控制系统安全性能评估[J]. 机械工程学报, 2024, 60(4): 101-112.
[6]	王志颖, 李天福, 许文纲, 孙闯, 张军辉, 徐兵, 严如强. 降噪混合注意力变分自编码器及其在轴向柱塞泵故障诊断中的应用[J]. 机械工程学报, 2024, 60(4): 167-177.
[7]	邵海东, 林健, 闵志闪, 明宇航. 分布外样本干扰下基于改进半监督原型网络的齿轮箱跨域故障诊断[J]. 机械工程学报, 2024, 60(4): 212-221.
[8]	潘海洋, 徐海锋, 郑近德, 童靳于, 张飞斌. 基于双加权不平衡矩阵分类器的机械故障诊断方法[J]. 机械工程学报, 2024, 60(3): 170-180.
[9]	赵轲, 叶敏, 王瑞欣, 陆海, 刘孟孟, 邵海东. 基于模糊域自适应的源自由域旋转机械故障诊断方法[J]. 机械工程学报, 2024, 60(18): 43-52.
[10]	李志鹏, 马天雨, 刘金平, 向青松, 唐俊杰. 基于非对称性对抗训练的多源域自适应智能故障诊断方法[J]. 机械工程学报, 2024, 60(18): 76-88.
[11]	汪煜坤, 易彩, 汪浩, 周秋阳, 冉乐, 王靖元. PSD引导的自适应频带划分方法及其在轴承故障诊断中的应用[J]. 机械工程学报, 2024, 60(17): 179-193.
[12]	刘一龙, 李心远, 陈银萍, 成玮, 陈雪峰. 基于峭度曲面极大值的电机轴承保持架故障诊断方法[J]. 机械工程学报, 2024, 60(15): 89-99.
[13]	于小洛, 杨阳, 杜明刚, 何清波, 彭志科. 机械传动系统含偏差频率分量协同检测与分解方法[J]. 机械工程学报, 2024, 60(15): 100-112.
[14]	黄包裕, 张永祥. 一种基于三步法的轴承故障诊断方法[J]. 机械工程学报, 2024, 60(14): 51-68.
[15]	陈钱, 陈康康, 董兴建, 皇甫一樊, 彭志科, 孟光. 一种面向机械设备故障诊断的可解释卷积神经网络[J]. 机械工程学报, 2024, 60(12): 65-76.